From a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b Mon Sep 17 00:00:00 2001 From: sshane Date: Sun, 11 Dec 2022 21:09:23 -0800 Subject: [PATCH] offsetting causing hugging? --- selfdrive/controls/lib/latcontrol_pid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 0fbdd98d1e..2df6767c64 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -30,7 +30,7 @@ class LatControlPID(LatControl): pid_log.steeringRateDeg = float(CS.steeringRateDeg) angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) - angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg + angle_steers_des = angle_steers_des_no_offset #+ params.angleOffsetDeg error = angle_steers_des - CS.steeringAngleDeg pid_log.steeringAngleDesiredDeg = angle_steers_des